Persistence of excitation conditions in passive learning control (Q1361337)

This paper focuses on the stability of system state and parameter estimates in passive learning control applications. The author's analysis applies to any method which is linear in the parameter approximator, and so applies to many commonly used approximators. The author also presents stability results for parametric and nonparametric adaptive control applications. The most interesting and original aspect of the paper is an analysis of the persistence of excitation conditions required to achieve parameter convergence.